Data-driven based methods have achieved great success in the last decade and the world has entered an era of deep learning. With the help of data-driven based deep learning methods, many problems of autonomous driving have been solved and autonomous vehicle is becoming a reality. To improve the performance of deep learning methods for autonomous driving, a great many of datasets for scene perception of autonomous driving have been published, such as KITTI [1]}, nuScenes [2]}, Waymo [3]} and so on. However, the existing published autonomous driving datasets are mainly collected in the urban cities, since the mainstream self-driving companies focus on autonomous driving technology in urban environments. Very few datasets are collected in off-road environments [4]}.
